A motion planning method for a self-reconfigurable modular robot

  title={A motion planning method for a self-reconfigurable modular robot},
  author={Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
This paper addresses motion planning of a homogeneous modular robotic system. The modules have selfreconfiguration capability so that a group of the modules can construct a robotic structure. Motion planning for selfreconfiguration is a kind of computationally difficult problem because of many combinatorial possibilities of modular configuration and the restricted degrees of freedom of the module; only two rotation axes per module. We will show a motion planning method for a class of multi… CONTINUE READING
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A Distributed Method for Reconfiguration of 3-D homogeneous structure

  • E. Yoshida
  • Advanced Robotics, 13-4, 363–380, 1999.
  • 1999
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